{"id":"https://openalex.org/W3119889900","doi":"https://doi.org/10.3390/s21020420","title":"Modules and Techniques for Motion Planning: An Industrial Perspective","display_name":"Modules and Techniques for Motion Planning: An Industrial Perspective","publication_year":2021,"publication_date":"2021-01-09","ids":{"openalex":"https://openalex.org/W3119889900","doi":"https://doi.org/10.3390/s21020420","mag":"3119889900","pmid":"https://pubmed.ncbi.nlm.nih.gov/33435294"},"language":"en","primary_location":{"id":"doi:10.3390/s21020420","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21020420","pdf_url":"https://www.mdpi.com/1424-8220/21/2/420/pdf?version=1610356395","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/2/420/pdf?version=1610356395","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023997315","display_name":"Stefano Quer","orcid":"https://orcid.org/0000-0001-6835-8277"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Stefano Quer","raw_affiliation_strings":["Department of Control and Computer Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, I-10129 Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6835-8277","affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, I-10129 Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013746163","display_name":"Luz Garc\u00eda","orcid":"https://orcid.org/0000-0001-5904-5412"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luz Garcia","raw_affiliation_strings":["Automated Driving Technologies, Technology Innovation, Marelli Europe S.p.A., Viale Carlo Emanuele II 150, Venaria Reale, I-10078 Turin, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automated Driving Technologies, Technology Innovation, Marelli Europe S.p.A., Viale Carlo Emanuele II 150, Venaria Reale, I-10078 Turin, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5023997315"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00822876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":"2","first_page":"420","last_page":"420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7560569047927856},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.6854654550552368},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.5803664326667786},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5130149722099304},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4993934631347656},{"id":"https://openalex.org/keywords/general-purpose-computing-on-graphics-processing-units","display_name":"General-purpose computing on graphics processing units","score":0.4986715316772461},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4783984422683716},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4535272717475891},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.45159173011779785},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4423835873603821},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4325886070728302},{"id":"https://openalex.org/keywords/computer-engineering","display_name":"Computer engineering","score":0.3748213052749634},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35167694091796875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3122307360172272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2346535623073578},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.20505300164222717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11871892213821411}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7560569047927856},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.6854654550552368},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.5803664326667786},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5130149722099304},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4993934631347656},{"id":"https://openalex.org/C50630238","wikidata":"https://www.wikidata.org/wiki/Q971505","display_name":"General-purpose computing on graphics processing units","level":3,"score":0.4986715316772461},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4783984422683716},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4535272717475891},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.45159173011779785},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4423835873603821},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4325886070728302},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.3748213052749634},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35167694091796875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3122307360172272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2346535623073578},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.20505300164222717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11871892213821411},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s21020420","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21020420","pdf_url":"https://www.mdpi.com/1424-8220/21/2/420/pdf?version=1610356395","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:33435294","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33435294","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:8fc692f2c863497f88aa69f2b2fb89b1","is_oa":true,"landing_page_url":"https://doaj.org/article/8fc692f2c863497f88aa69f2b2fb89b1","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 2, p 420 (2021)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:6733039","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC7826951","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/2/420/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21020420","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 21; Issue 2; Pages: 420","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7826951","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7826951","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21020420","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21020420","pdf_url":"https://www.mdpi.com/1424-8220/21/2/420/pdf?version=1610356395","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3119889900.pdf","grobid_xml":"https://content.openalex.org/works/W3119889900.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W1366435","https://openalex.org/W1530361898","https://openalex.org/W1543242068","https://openalex.org/W1567193306","https://openalex.org/W1969423477","https://openalex.org/W1977085960","https://openalex.org/W1983948265","https://openalex.org/W2000359213","https://openalex.org/W2014340571","https://openalex.org/W2015407763","https://openalex.org/W2015716598","https://openalex.org/W2023525850","https://openalex.org/W2049784501","https://openalex.org/W2055432570","https://openalex.org/W2065943074","https://openalex.org/W2091750321","https://openalex.org/W2102605133","https://openalex.org/W2134765105","https://openalex.org/W2142969240","https://openalex.org/W2151395903","https://openalex.org/W2209819150","https://openalex.org/W2212765426","https://openalex.org/W2288542278","https://openalex.org/W2294413161","https://openalex.org/W2477231637","https://openalex.org/W2505763307","https://openalex.org/W2525936901","https://openalex.org/W2566243177","https://openalex.org/W2741086815","https://openalex.org/W2743058404","https://openalex.org/W2770086227","https://openalex.org/W2789990415","https://openalex.org/W2791182737","https://openalex.org/W2795093342","https://openalex.org/W2884367402","https://openalex.org/W2895923634","https://openalex.org/W2897306720","https://openalex.org/W2904263972","https://openalex.org/W2912210087","https://openalex.org/W2914625278","https://openalex.org/W2926912536","https://openalex.org/W2953303875","https://openalex.org/W2963037989","https://openalex.org/W2968294564","https://openalex.org/W2981207549","https://openalex.org/W2996603995","https://openalex.org/W3001083904","https://openalex.org/W3044531840","https://openalex.org/W3080611589","https://openalex.org/W3114323021","https://openalex.org/W4230028510"],"related_works":["https://openalex.org/W1963859303","https://openalex.org/W2364044215","https://openalex.org/W2389600408","https://openalex.org/W240129890","https://openalex.org/W3048701459","https://openalex.org/W2149078538","https://openalex.org/W2080146221","https://openalex.org/W2370314112","https://openalex.org/W1912958759","https://openalex.org/W2792081825"],"abstract_inverted_index":{"Research":[0],"on":[1,68,88,159,190,203,233],"autonomous":[2,48],"cars":[3],"has":[4],"become":[5],"one":[6],"of":[7,137,144,172,193,236],"the":[8,13,27,52,56,69,83,89,95,99,102,105,114,169,179,194,197,210,214],"main":[9],"research":[10],"paths":[11,211,232],"in":[12,42,135,142,239],"automotive":[14],"industry,":[15],"with":[16,183,213,217],"many":[17],"critical":[18],"issues":[19,93],"that":[20,226],"remain":[21],"to":[22,55,81,167,177],"be":[23],"explored":[24],"while":[25],"considering":[26],"overall":[28],"methodology":[29],"and":[30,60,65,78,91,98,104,108,127,139,147,196,207,221],"its":[31,63],"practical":[32],"applicability.":[33],"In":[34,119],"this":[35],"paper,":[36],"we":[37,44,61,74,122,154,208],"present":[38],"an":[39],"industrial":[40],"experience":[41],"which":[43,130],"build":[45],"a":[46,156,184,234],"complete":[47],"driving":[49],"system,":[50],"from":[51],"sensor":[53],"units":[54],"car":[57],"control":[58],"equipment,":[59],"describe":[62],"adoption":[64],"testing":[66],"phase":[67],"field.":[70],"We":[71,86,151,188,200,224],"report":[72,189,209],"how":[73,153],"organize":[75],"data":[76],"fusion":[77],"map":[79],"manipulation":[80],"represent":[82],"required":[84],"reality.":[85],"focus":[87],"communication":[90],"synchronization":[92],"between":[94,101],"data-fusion":[96],"device":[97],"path-planner,":[100],"CPU":[103],"GPU":[106],"units,":[107],"among":[109],"different":[110,215],"CUDA":[111],"kernels":[112],"implementing":[113],"core":[115],"local":[116],"planner":[117],"module.":[118],"these":[120],"frameworks,":[121],"propose":[123],"simple":[124],"representation":[125],"strategies":[126],"approximation":[128],"techniques":[129],"guarantee":[131],"almost":[132],"no":[133],"penalty":[134],"terms":[136,143],"accuracy":[138],"large":[140],"savings":[141],"memory":[145,148],"occupation":[146],"transfer":[149],"times.":[150,223],"show":[152],"adopt":[155],"recent":[157],"implementation":[158],"parallel":[160],"many-core":[161],"devices,":[162],"such":[163],"as":[164],"CUDA-based":[165],"GPGPU,":[166],"reduce":[168],"computational":[170],"burden":[171],"rapidly":[173],"exploring":[174],"random":[175],"trees":[176],"explore":[178],"state":[180],"space":[181],"along":[182],"given":[185],"reference":[186],"path.":[187],"our":[191,227],"use":[192],"controller":[195],"vehicle":[198],"simulator.":[199],"run":[201],"experiments":[202],"several":[204],"real":[205,240],"scenarios,":[206],"generated":[212],"settings,":[216],"their":[218],"relative":[219],"errors":[220],"computation":[222],"prove":[225],"approach":[228],"can":[229],"generate":[230],"reasonable":[231],"multitude":[235],"standard":[237],"maneuvers":[238],"time.":[241]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}